Abstract
With the increasing demand for automation in aviation manufacturing, it is significant to realize intelligent manufacturing by using industrial robots for the compliant auxiliary assembly of large aircraft components. Based on the requirements of human-machine collaboration, the characteristics of variable admittance control are analyzed by taking the large aircraft components as the assembly object, and the specific implementation methods of variable admittance control based on operation intention recognition for different phases of the auxiliary assembly process are studied. Later, the force signal processing is simulated and an auxiliary assembly test prototype is built to verify the conclusion. The results show that using the proposed method can effectively improve the phenomenon of reverse acceleration mutation and contact bounce of robot, then the robot’s compliance and assembly efficiency in the process of auxiliary assembly are enhanced.
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Wu, C., Shen, Y., Li, G., Li, P., Tian, W. (2021). Compliance Auxiliary Assembly of Large Aircraft Components Based on Variable Admittance Control. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13014. Springer, Cham. https://doi.org/10.1007/978-3-030-89098-8_44
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DOI: https://doi.org/10.1007/978-3-030-89098-8_44
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